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Update nav2_params.yaml
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# slam_toolbox:
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# ros__parameters:
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# # Plugin params
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# solver_plugin: solver_plugins::CeresSolver
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# ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
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# ceres_preconditioner: SCHUR_JACOBI
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# ceres_trust_strategy: LEVENBERG_MARQUARDT
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# ceres_dogleg_type: TRADITIONAL_DOGLEG
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# ceres_loss_function: None
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# # ROS Parameters
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# odom_frame: odom
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# map_frame: map
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# base_frame: base_footprint
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# scan_topic: /scan
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# #scan_topic: /scan_filtered
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# use_map_saver: true
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# mode: mapping #localization
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# # if you'd like to immediately start continuing a map at a given pose
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# # or at the dock, but they are mutually exclusive, if pose is given
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# # will use pose
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# #map_file_name: test_steve
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# #map_start_pose: [0.0, 0.0, 0.0]
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# #map_start_at_dock: true
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# debug_logging: false
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# throttle_scans: 1
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# transform_publish_period: 0.02 #if 0 never publishes odometry
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# map_update_interval: 5.0
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# resolution: 0.05
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# max_laser_range: 20.0 #for rastering images
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# minimum_time_interval: 0.5
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# transform_timeout: 0.2
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# tf_buffer_duration: 30.
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# stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
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# enable_interactive_mode: true
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# # General Parameters
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# use_scan_matching: true
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# use_scan_barycenter: true
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# minimum_travel_distance: 0.5
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# minimum_travel_heading: 0.5
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# scan_buffer_size: 10
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# scan_buffer_maximum_scan_distance: 10.0
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# link_match_minimum_response_fine: 0.1
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# link_scan_maximum_distance: 1.5
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# loop_search_maximum_distance: 3.0
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# do_loop_closing: true
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# loop_match_minimum_chain_size: 10
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# loop_match_maximum_variance_coarse: 3.0
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# loop_match_minimum_response_coarse: 0.35
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# loop_match_minimum_response_fine: 0.45
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# # Correlation Parameters - Correlation Parameters
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# correlation_search_space_dimension: 0.5
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# correlation_search_space_resolution: 0.01
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# correlation_search_space_smear_deviation: 0.1
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# # Correlation Parameters - Loop Closure Parameters
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# loop_search_space_dimension: 8.0
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# loop_search_space_resolution: 0.05
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# loop_search_space_smear_deviation: 0.03
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# # Scan Matcher Parameters
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# distance_variance_penalty: 0.5
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# angle_variance_penalty: 1.0
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# fine_search_angle_offset: 0.00349
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# coarse_search_angle_offset: 0.349
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# coarse_angle_resolution: 0.0349
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# minimum_angle_penalty: 0.9
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# minimum_distance_penalty: 0.5
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# use_response_expansion: true
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# amcl:
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# ros__parameters:
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# use_sim_time: True
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# alpha1: 0.2
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# alpha2: 0.2
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# alpha3: 0.2
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# alpha4: 0.2
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# alpha5: 0.2
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# base_frame_id: "base_footprint"
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# beam_skip_distance: 0.5
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# beam_skip_error_threshold: 0.9
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# beam_skip_threshold: 0.3
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# do_beamskip: false
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# global_frame_id: "map"
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# lambda_short: 0.1
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# laser_likelihood_max_dist: 2.0
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# laser_max_range: 100.0
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# laser_min_range: -1.0
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# laser_model_type: "likelihood_field"
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# max_beams: 60
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# max_particles: 2000
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# min_particles: 500
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# odom_frame_id: "odom"
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# pf_err: 0.05
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# pf_z: 0.99
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# recovery_alpha_fast: 0.0
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# recovery_alpha_slow: 0.0
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# resample_interval: 1
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# robot_model_type: "nav2_amcl::DifferentialMotionModel"
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# save_pose_rate: 0.5
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# sigma_hit: 0.2
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# tf_broadcast: true
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# transform_tolerance: 1.0
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# update_min_a: 0.2
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# update_min_d: 0.25
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# z_hit: 0.5
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# z_max: 0.05
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# z_rand: 0.5
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# z_short: 0.05
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# scan_topic: scan
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# bt_navigator:
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# ros__parameters:
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# use_sim_time: True
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# global_frame: map
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# robot_base_frame: base_link
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# odom_topic: /odometry/filtered
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# bt_loop_duration: 10
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# default_server_timeout: 20
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# # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
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# # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
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# # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
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# # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
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# plugin_lib_names:
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# - nav2_compute_path_to_pose_action_bt_node
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# - nav2_compute_path_through_poses_action_bt_node
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# - nav2_smooth_path_action_bt_node
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# - nav2_follow_path_action_bt_node
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# - nav2_spin_action_bt_node
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# - nav2_wait_action_bt_node
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# - nav2_assisted_teleop_action_bt_node
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# - nav2_back_up_action_bt_node
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# - nav2_drive_on_heading_bt_node
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# - nav2_clear_costmap_service_bt_node
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# - nav2_is_stuck_condition_bt_node
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# - nav2_goal_reached_condition_bt_node
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# - nav2_goal_updated_condition_bt_node
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# - nav2_globally_updated_goal_condition_bt_node
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# - nav2_is_path_valid_condition_bt_node
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# - nav2_initial_pose_received_condition_bt_node
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# - nav2_reinitialize_global_localization_service_bt_node
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# - nav2_rate_controller_bt_node
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# - nav2_distance_controller_bt_node
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# - nav2_speed_controller_bt_node
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# - nav2_truncate_path_action_bt_node
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# - nav2_truncate_path_local_action_bt_node
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# - nav2_goal_updater_node_bt_node
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# - nav2_recovery_node_bt_node
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# - nav2_pipeline_sequence_bt_node
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# - nav2_round_robin_node_bt_node
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# - nav2_transform_available_condition_bt_node
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# - nav2_time_expired_condition_bt_node
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# - nav2_path_expiring_timer_condition
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# - nav2_distance_traveled_condition_bt_node
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# - nav2_single_trigger_bt_node
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# - nav2_goal_updated_controller_bt_node
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# - nav2_is_battery_low_condition_bt_node
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# - nav2_navigate_through_poses_action_bt_node
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# - nav2_navigate_to_pose_action_bt_node
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# - nav2_remove_passed_goals_action_bt_node
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# - nav2_planner_selector_bt_node
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# - nav2_controller_selector_bt_node
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# - nav2_goal_checker_selector_bt_node
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# - nav2_controller_cancel_bt_node
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# - nav2_path_longer_on_approach_bt_node
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# - nav2_wait_cancel_bt_node
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# - nav2_spin_cancel_bt_node
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# - nav2_back_up_cancel_bt_node
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# - nav2_assisted_teleop_cancel_bt_node
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# - nav2_drive_on_heading_cancel_bt_node
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# bt_navigator_navigate_through_poses_rclcpp_node:
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# ros__parameters:
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# use_sim_time: True
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# bt_navigator_navigate_to_pose_rclcpp_node:
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# ros__parameters:
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# use_sim_time: True
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# controller_server:
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# ros__parameters:
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# use_sim_time: True
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# controller_frequency: 20.0
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# min_x_velocity_threshold: 0.001
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# min_y_velocity_threshold: 0.5
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# min_theta_velocity_threshold: 0.001
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# failure_tolerance: 0.3
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# progress_checker_plugin: "progress_checker"
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# goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
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# controller_plugins: ["FollowPath"]
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# # Progress checker parameters
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# progress_checker:
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# plugin: "nav2_controller::SimpleProgressChecker"
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# required_movement_radius: 0.5
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# movement_time_allowance: 10.0
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# # Goal checker parameters
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# #precise_goal_checker:
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# # plugin: "nav2_controller::SimpleGoalChecker"
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# # xy_goal_tolerance: 0.25
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# # yaw_goal_tolerance: 0.25
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# # stateful: True
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# general_goal_checker:
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# stateful: True
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# plugin: "nav2_controller::SimpleGoalChecker"
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# xy_goal_tolerance: 0.25
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# yaw_goal_tolerance: 0.25
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# # DWB parameters
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# FollowPath:
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# plugin: "dwb_core::DWBLocalPlanner"
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# debug_trajectory_details: True
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# min_vel_x: 0.0
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# min_vel_y: 0.0
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# max_vel_x: 0.26
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# max_vel_y: 0.0
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# max_vel_theta: 1.0
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# min_speed_xy: 0.0
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# max_speed_xy: 0.26
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# min_speed_theta: 0.0
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# # Add high threshold velocity for turtlebot 3 issue.
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# # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
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# acc_lim_x: 2.5
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# acc_lim_y: 0.0
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# acc_lim_theta: 3.2
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# decel_lim_x: -2.5
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# decel_lim_y: 0.0
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# decel_lim_theta: -3.2
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# vx_samples: 20
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# vy_samples: 5
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# vtheta_samples: 20
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# sim_time: 1.7
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# linear_granularity: 0.05
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# angular_granularity: 0.025
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# transform_tolerance: 0.2
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# xy_goal_tolerance: 0.25
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# trans_stopped_velocity: 0.25
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# short_circuit_trajectory_evaluation: True
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# stateful: True
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# critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
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# BaseObstacle.scale: 0.02
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# PathAlign.scale: 32.0
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# PathAlign.forward_point_distance: 0.1
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# GoalAlign.scale: 24.0
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# GoalAlign.forward_point_distance: 0.1
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# PathDist.scale: 32.0
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# GoalDist.scale: 24.0
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# RotateToGoal.scale: 32.0
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# RotateToGoal.slowing_factor: 5.0
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# RotateToGoal.lookahead_time: -1.0
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# local_costmap:
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# local_costmap:
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# ros__parameters:
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# update_frequency: 5.0
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# publish_frequency: 2.0
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# global_frame: odom
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# robot_base_frame: base_link
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# use_sim_time: True
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# rolling_window: true
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# width: 3
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# height: 3
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# resolution: 0.05
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# robot_radius: 0.22
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# plugins: ["voxel_layer", "inflation_layer"]
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# inflation_layer:
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# plugin: "nav2_costmap_2d::InflationLayer"
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# cost_scaling_factor: 3.0
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# inflation_radius: 0.55
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# voxel_layer:
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# plugin: "nav2_costmap_2d::VoxelLayer"
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# enabled: True
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# publish_voxel_map: True
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# origin_z: 0.0
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# z_resolution: 0.05
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# z_voxels: 16
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# max_obstacle_height: 2.0
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# mark_threshold: 0
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# observation_sources: scan
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# scan:
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# topic: /scan
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# max_obstacle_height: 2.0
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# clearing: True
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# marking: True
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# data_type: "LaserScan"
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# raytrace_max_range: 3.0
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# raytrace_min_range: 0.0
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# obstacle_max_range: 2.5
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# obstacle_min_range: 0.0
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# static_layer:
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# plugin: "nav2_costmap_2d::StaticLayer"
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# map_subscribe_transient_local: True
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# always_send_full_costmap: True
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# global_costmap:
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# global_costmap:
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# ros__parameters:
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# update_frequency: 1.0
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# publish_frequency: 1.0
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# global_frame: map
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# robot_base_frame: base_link
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# use_sim_time: True
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# robot_radius: 0.22
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# resolution: 0.05
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# track_unknown_space: true
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# plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
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# obstacle_layer:
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# plugin: "nav2_costmap_2d::ObstacleLayer"
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# enabled: True
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# observation_sources: scan
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# scan:
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# topic: /scan
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# max_obstacle_height: 2.0
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# clearing: True
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# marking: True
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# data_type: "LaserScan"
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# raytrace_max_range: 3.0
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# raytrace_min_range: 0.0
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# obstacle_max_range: 2.5
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# obstacle_min_range: 0.0
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# static_layer:
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# plugin: "nav2_costmap_2d::StaticLayer"
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# map_subscribe_transient_local: True
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# inflation_layer:
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# plugin: "nav2_costmap_2d::InflationLayer"
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# cost_scaling_factor: 3.0
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# inflation_radius: 0.55
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# always_send_full_costmap: True
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# map_server:
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# ros__parameters:
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# use_sim_time: True
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# # Overridden in launch by the "map" launch configuration or provided default value.
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# # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
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# yaml_filename: ""
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# map_saver:
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# ros__parameters:
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# use_sim_time: True
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# save_map_timeout: 5.0
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# free_thresh_default: 0.25
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# occupied_thresh_default: 0.65
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# map_subscribe_transient_local: True
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# planner_server:
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# ros__parameters:
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# expected_planner_frequency: 20.0
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# use_sim_time: True
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# planner_plugins: ["GridBased"]
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# GridBased:
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# plugin: "nav2_navfn_planner/NavfnPlanner"
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# tolerance: 0.5
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# use_astar: false
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# allow_unknown: true
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# smoother_server:
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# ros__parameters:
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# use_sim_time: True
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# smoother_plugins: ["simple_smoother"]
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# simple_smoother:
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# plugin: "nav2_smoother::SimpleSmoother"
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# tolerance: 1.0e-10
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# max_its: 1000
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# do_refinement: True
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# behavior_server:
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# ros__parameters:
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# costmap_topic: local_costmap/costmap_raw
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# footprint_topic: local_costmap/published_footprint
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# cycle_frequency: 10.0
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# behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
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# spin:
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# plugin: "nav2_behaviors/Spin"
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# backup:
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# plugin: "nav2_behaviors/BackUp"
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# drive_on_heading:
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# plugin: "nav2_behaviors/DriveOnHeading"
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# wait:
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# plugin: "nav2_behaviors/Wait"
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# assisted_teleop:
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# plugin: "nav2_behaviors/AssistedTeleop"
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# global_frame: odom
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# robot_base_frame: base_link
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# transform_tolerance: 0.1
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# use_sim_time: true
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# simulate_ahead_time: 2.0
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# max_rotational_vel: 1.0
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# min_rotational_vel: 0.4
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# rotational_acc_lim: 3.2
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# robot_state_publisher:
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# ros__parameters:
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# use_sim_time: True
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# waypoint_follower:
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# ros__parameters:
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# use_sim_time: True
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# loop_rate: 20
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# stop_on_failure: false
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# waypoint_task_executor_plugin: "wait_at_waypoint"
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# wait_at_waypoint:
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# plugin: "nav2_waypoint_follower::WaitAtWaypoint"
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# enabled: True
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# waypoint_pause_duration: 200
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# velocity_smoother:
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# ros__parameters:
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# use_sim_time: True
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# smoothing_frequency: 20.0
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# scale_velocities: False
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# feedback: "OPEN_LOOP"
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# max_velocity: [0.26, 0.0, 1.0]
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# min_velocity: [-0.26, 0.0, -1.0]
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# max_accel: [2.5, 0.0, 3.2]
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# max_decel: [-2.5, 0.0, -3.2]
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# odom_topic: "/odometry/filtered"
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# odom_duration: 0.1
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# deadband_velocity: [0.0, 0.0, 0.0]
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# velocity_timeout: 1.0
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slam_toolbox:
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ros__parameters:
|
||||
|
||||
@ -90,7 +517,7 @@ amcl:
|
||||
global_frame_id: "map"
|
||||
lambda_short: 0.1
|
||||
laser_likelihood_max_dist: 2.0
|
||||
laser_max_range: 100.0
|
||||
laser_max_range: 7.0 #was 100.0
|
||||
laser_min_range: -1.0
|
||||
laser_model_type: "likelihood_field"
|
||||
max_beams: 60
|
||||
@ -120,7 +547,7 @@ bt_navigator:
|
||||
use_sim_time: True
|
||||
global_frame: map
|
||||
robot_base_frame: base_link
|
||||
odom_topic: /odometry/filtered
|
||||
odom_topic: /odom
|
||||
bt_loop_duration: 10
|
||||
default_server_timeout: 20
|
||||
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
|
||||
@ -128,52 +555,53 @@ bt_navigator:
|
||||
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
|
||||
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
|
||||
plugin_lib_names:
|
||||
- nav2_compute_path_to_pose_action_bt_node
|
||||
- nav2_compute_path_through_poses_action_bt_node
|
||||
- nav2_smooth_path_action_bt_node
|
||||
- nav2_follow_path_action_bt_node
|
||||
- nav2_spin_action_bt_node
|
||||
- nav2_wait_action_bt_node
|
||||
- nav2_assisted_teleop_action_bt_node
|
||||
- nav2_back_up_action_bt_node
|
||||
- nav2_drive_on_heading_bt_node
|
||||
- nav2_clear_costmap_service_bt_node
|
||||
- nav2_is_stuck_condition_bt_node
|
||||
- nav2_goal_reached_condition_bt_node
|
||||
- nav2_goal_updated_condition_bt_node
|
||||
- nav2_globally_updated_goal_condition_bt_node
|
||||
- nav2_is_path_valid_condition_bt_node
|
||||
- nav2_initial_pose_received_condition_bt_node
|
||||
- nav2_reinitialize_global_localization_service_bt_node
|
||||
- nav2_rate_controller_bt_node
|
||||
- nav2_distance_controller_bt_node
|
||||
- nav2_speed_controller_bt_node
|
||||
- nav2_truncate_path_action_bt_node
|
||||
- nav2_truncate_path_local_action_bt_node
|
||||
- nav2_goal_updater_node_bt_node
|
||||
- nav2_recovery_node_bt_node
|
||||
- nav2_pipeline_sequence_bt_node
|
||||
- nav2_round_robin_node_bt_node
|
||||
- nav2_transform_available_condition_bt_node
|
||||
- nav2_time_expired_condition_bt_node
|
||||
- nav2_path_expiring_timer_condition
|
||||
- nav2_distance_traveled_condition_bt_node
|
||||
- nav2_single_trigger_bt_node
|
||||
- nav2_goal_updated_controller_bt_node
|
||||
- nav2_is_battery_low_condition_bt_node
|
||||
- nav2_navigate_through_poses_action_bt_node
|
||||
- nav2_navigate_to_pose_action_bt_node
|
||||
- nav2_remove_passed_goals_action_bt_node
|
||||
- nav2_planner_selector_bt_node
|
||||
- nav2_controller_selector_bt_node
|
||||
- nav2_goal_checker_selector_bt_node
|
||||
- nav2_controller_cancel_bt_node
|
||||
- nav2_path_longer_on_approach_bt_node
|
||||
- nav2_wait_cancel_bt_node
|
||||
- nav2_spin_cancel_bt_node
|
||||
- nav2_back_up_cancel_bt_node
|
||||
- nav2_assisted_teleop_cancel_bt_node
|
||||
- nav2_drive_on_heading_cancel_bt_node
|
||||
- nav2_compute_path_to_pose_action_bt_node
|
||||
- nav2_compute_path_through_poses_action_bt_node
|
||||
- nav2_smooth_path_action_bt_node
|
||||
- nav2_follow_path_action_bt_node
|
||||
- nav2_spin_action_bt_node
|
||||
- nav2_wait_action_bt_node
|
||||
- nav2_assisted_teleop_action_bt_node
|
||||
- nav2_back_up_action_bt_node
|
||||
- nav2_drive_on_heading_bt_node
|
||||
- nav2_clear_costmap_service_bt_node
|
||||
- nav2_is_stuck_condition_bt_node
|
||||
- nav2_goal_reached_condition_bt_node
|
||||
- nav2_goal_updated_condition_bt_node
|
||||
- nav2_globally_updated_goal_condition_bt_node
|
||||
- nav2_is_path_valid_condition_bt_node
|
||||
- nav2_initial_pose_received_condition_bt_node
|
||||
- nav2_reinitialize_global_localization_service_bt_node
|
||||
- nav2_rate_controller_bt_node
|
||||
- nav2_distance_controller_bt_node
|
||||
- nav2_speed_controller_bt_node
|
||||
- nav2_truncate_path_action_bt_node
|
||||
- nav2_truncate_path_local_action_bt_node
|
||||
- nav2_goal_updater_node_bt_node
|
||||
- nav2_recovery_node_bt_node
|
||||
- nav2_pipeline_sequence_bt_node
|
||||
- nav2_round_robin_node_bt_node
|
||||
- nav2_transform_available_condition_bt_node
|
||||
- nav2_time_expired_condition_bt_node
|
||||
- nav2_path_expiring_timer_condition
|
||||
- nav2_distance_traveled_condition_bt_node
|
||||
- nav2_single_trigger_bt_node
|
||||
- nav2_goal_updated_controller_bt_node
|
||||
- nav2_is_battery_low_condition_bt_node
|
||||
- nav2_navigate_through_poses_action_bt_node
|
||||
- nav2_navigate_to_pose_action_bt_node
|
||||
- nav2_remove_passed_goals_action_bt_node
|
||||
- nav2_planner_selector_bt_node
|
||||
- nav2_controller_selector_bt_node
|
||||
- nav2_goal_checker_selector_bt_node
|
||||
- nav2_controller_cancel_bt_node
|
||||
- nav2_path_longer_on_approach_bt_node
|
||||
- nav2_wait_cancel_bt_node
|
||||
- nav2_spin_cancel_bt_node
|
||||
- nav2_back_up_cancel_bt_node
|
||||
- nav2_assisted_teleop_cancel_bt_node
|
||||
- nav2_drive_on_heading_cancel_bt_node
|
||||
- nav2_is_battery_charging_condition_bt_node
|
||||
|
||||
bt_navigator_navigate_through_poses_rclcpp_node:
|
||||
ros__parameters:
|
||||
@ -183,76 +611,123 @@ bt_navigator_navigate_to_pose_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
# controller_server:
|
||||
# ros__parameters:
|
||||
# use_sim_time: True
|
||||
# controller_frequency: 20.0
|
||||
# min_x_velocity_threshold: 0.001
|
||||
# min_y_velocity_threshold: 0.5
|
||||
# min_theta_velocity_threshold: 0.001
|
||||
# failure_tolerance: 0.3
|
||||
# progress_checker_plugin: "progress_checker"
|
||||
# goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
|
||||
# controller_plugins: ["FollowPath"]
|
||||
|
||||
# # Progress checker parameters
|
||||
# progress_checker:
|
||||
# plugin: "nav2_controller::SimpleProgressChecker"
|
||||
# required_movement_radius: 0.5
|
||||
# movement_time_allowance: 10.0
|
||||
# # Goal checker parameters
|
||||
# #precise_goal_checker:
|
||||
# # plugin: "nav2_controller::SimpleGoalChecker"
|
||||
# # xy_goal_tolerance: 0.25
|
||||
# # yaw_goal_tolerance: 0.25
|
||||
# # stateful: True
|
||||
# general_goal_checker:
|
||||
# stateful: True
|
||||
# plugin: "nav2_controller::SimpleGoalChecker"
|
||||
# xy_goal_tolerance: 0.25
|
||||
# yaw_goal_tolerance: 0.25
|
||||
# # DWB parameters
|
||||
# FollowPath:
|
||||
# plugin: "dwb_core::DWBLocalPlanner"
|
||||
# debug_trajectory_details: True
|
||||
# min_vel_x: -0.1
|
||||
# min_vel_y: 0.0
|
||||
# max_vel_x: 0.26
|
||||
# max_vel_y: 0.0
|
||||
# max_vel_theta: 1.0
|
||||
# min_speed_xy: 0.0
|
||||
# max_speed_xy: 0.26
|
||||
# min_speed_theta: 0.0
|
||||
# # Add high threshold velocity for turtlebot 3 issue.
|
||||
# # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
|
||||
# acc_lim_x: 2.5
|
||||
# acc_lim_y: 0.0
|
||||
# acc_lim_theta: 3.2
|
||||
# decel_lim_x: -2.5
|
||||
# decel_lim_y: 0.0
|
||||
# decel_lim_theta: -3.2
|
||||
# vx_samples: 20
|
||||
# vy_samples: 5
|
||||
# vtheta_samples: 20
|
||||
# sim_time: 1.7
|
||||
# linear_granularity: 0.05
|
||||
# angular_granularity: 0.025
|
||||
# transform_tolerance: 0.2
|
||||
# xy_goal_tolerance: 0.25
|
||||
# trans_stopped_velocity: 0.25
|
||||
# short_circuit_trajectory_evaluation: True
|
||||
# stateful: True
|
||||
# critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "ObstacleFootprint", "PreferForward"]
|
||||
# BaseObstacle.scale: 0.02
|
||||
# PathAlign.scale: 32.0
|
||||
# PathAlign.forward_point_distance: 0.1
|
||||
# GoalAlign.scale: 24.0
|
||||
# GoalAlign.forward_point_distance: 0.1
|
||||
# PathDist.scale: 32.0
|
||||
# GoalDist.scale: 24.0
|
||||
# RotateToGoal.scale: 32.0
|
||||
# RotateToGoal.slowing_factor: 5.0
|
||||
# RotateToGoal.lookahead_time: -1.0
|
||||
controller_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
controller_frequency: 20.0
|
||||
controller_frequency: 100.0 # was 20.0
|
||||
min_x_velocity_threshold: 0.001
|
||||
min_y_velocity_threshold: 0.5
|
||||
min_theta_velocity_threshold: 0.001
|
||||
failure_tolerance: 0.3
|
||||
progress_checker_plugin: "progress_checker"
|
||||
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
|
||||
progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
|
||||
goal_checker_plugins: ["goal_checker"]
|
||||
controller_plugins: ["FollowPath"]
|
||||
|
||||
# Progress checker parameters
|
||||
progress_checker:
|
||||
plugin: "nav2_controller::SimpleProgressChecker"
|
||||
required_movement_radius: 0.5
|
||||
movement_time_allowance: 10.0
|
||||
# Goal checker parameters
|
||||
#precise_goal_checker:
|
||||
# plugin: "nav2_controller::SimpleGoalChecker"
|
||||
# xy_goal_tolerance: 0.25
|
||||
# yaw_goal_tolerance: 0.25
|
||||
# stateful: True
|
||||
general_goal_checker:
|
||||
stateful: True
|
||||
goal_checker:
|
||||
plugin: "nav2_controller::SimpleGoalChecker"
|
||||
xy_goal_tolerance: 0.25
|
||||
yaw_goal_tolerance: 0.25
|
||||
# DWB parameters
|
||||
FollowPath:
|
||||
plugin: "dwb_core::DWBLocalPlanner"
|
||||
debug_trajectory_details: True
|
||||
min_vel_x: 0.0
|
||||
min_vel_y: 0.0
|
||||
max_vel_x: 0.26
|
||||
max_vel_y: 0.0
|
||||
max_vel_theta: 1.0
|
||||
min_speed_xy: 0.0
|
||||
max_speed_xy: 0.26
|
||||
min_speed_theta: 0.0
|
||||
# Add high threshold velocity for turtlebot 3 issue.
|
||||
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
|
||||
acc_lim_x: 2.5
|
||||
acc_lim_y: 0.0
|
||||
acc_lim_theta: 3.2
|
||||
decel_lim_x: -2.5
|
||||
decel_lim_y: 0.0
|
||||
decel_lim_theta: -3.2
|
||||
vx_samples: 20
|
||||
vy_samples: 5
|
||||
vtheta_samples: 20
|
||||
sim_time: 1.7
|
||||
linear_granularity: 0.05
|
||||
angular_granularity: 0.025
|
||||
transform_tolerance: 0.2
|
||||
xy_goal_tolerance: 0.25
|
||||
trans_stopped_velocity: 0.25
|
||||
short_circuit_trajectory_evaluation: True
|
||||
xy_goal_tolerance: 0.25 # was 0.25
|
||||
yaw_goal_tolerance: 0.25 # was 0.25
|
||||
stateful: True
|
||||
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
|
||||
BaseObstacle.scale: 0.02
|
||||
PathAlign.scale: 32.0
|
||||
PathAlign.forward_point_distance: 0.1
|
||||
GoalAlign.scale: 24.0
|
||||
GoalAlign.forward_point_distance: 0.1
|
||||
PathDist.scale: 32.0
|
||||
GoalDist.scale: 24.0
|
||||
RotateToGoal.scale: 32.0
|
||||
RotateToGoal.slowing_factor: 5.0
|
||||
RotateToGoal.lookahead_time: -1.0
|
||||
FollowPath:
|
||||
plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
|
||||
desired_linear_vel: 0.5
|
||||
lookahead_dist: 0.6
|
||||
min_lookahead_dist: 0.3
|
||||
max_lookahead_dist: 0.9
|
||||
lookahead_time: 1.5
|
||||
rotate_to_heading_angular_vel: 1.8
|
||||
transform_tolerance: 0.1
|
||||
use_velocity_scaled_lookahead_dist: false
|
||||
min_approach_linear_velocity: 0.007 # was 0.05
|
||||
approach_velocity_scaling_dist: 0.6
|
||||
use_collision_detection: true
|
||||
max_allowed_time_to_collision_up_to_carrot: 1.0
|
||||
use_regulated_linear_velocity_scaling: true
|
||||
use_fixed_curvature_lookahead: false
|
||||
curvature_lookahead_dist: 0.25
|
||||
use_cost_regulated_linear_velocity_scaling: false
|
||||
regulated_linear_scaling_min_radius: 0.9
|
||||
regulated_linear_scaling_min_speed: 0.25
|
||||
use_rotate_to_heading: false # was true, cannot be set together with allow_reversing
|
||||
allow_reversing: true # was false
|
||||
rotate_to_heading_min_angle: 0.785
|
||||
max_angular_accel: 3.2
|
||||
max_robot_pose_search_dist: 10.0
|
||||
use_interpolation: true # was false
|
||||
|
||||
|
||||
local_costmap:
|
||||
local_costmap:
|
||||
@ -266,11 +741,12 @@ local_costmap:
|
||||
width: 3
|
||||
height: 3
|
||||
resolution: 0.05
|
||||
robot_radius: 0.22
|
||||
#robot_radius: 0.22
|
||||
footprint: "[ [0.18, 0.200], [0.18, -0.200], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]"
|
||||
plugins: ["voxel_layer", "inflation_layer"]
|
||||
inflation_layer:
|
||||
plugin: "nav2_costmap_2d::InflationLayer"
|
||||
cost_scaling_factor: 3.0
|
||||
cost_scaling_factor: 10.0 # was 3.0
|
||||
inflation_radius: 0.55
|
||||
voxel_layer:
|
||||
plugin: "nav2_costmap_2d::VoxelLayer"
|
||||
@ -305,7 +781,8 @@ global_costmap:
|
||||
global_frame: map
|
||||
robot_base_frame: base_link
|
||||
use_sim_time: True
|
||||
robot_radius: 0.22
|
||||
#robot_radius: 0.22
|
||||
footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon
|
||||
resolution: 0.05
|
||||
track_unknown_space: true
|
||||
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
||||
@ -328,7 +805,7 @@ global_costmap:
|
||||
map_subscribe_transient_local: True
|
||||
inflation_layer:
|
||||
plugin: "nav2_costmap_2d::InflationLayer"
|
||||
cost_scaling_factor: 3.0
|
||||
cost_scaling_factor: 10.0 # was 3.0
|
||||
inflation_radius: 0.55
|
||||
always_send_full_costmap: True
|
||||
|
||||
@ -347,16 +824,37 @@ map_saver:
|
||||
occupied_thresh_default: 0.65
|
||||
map_subscribe_transient_local: True
|
||||
|
||||
# planner_server:
|
||||
# ros__parameters:
|
||||
# expected_planner_frequency: 20.0
|
||||
# use_sim_time: True
|
||||
# planner_plugins: ["GridBased"]
|
||||
# GridBased:
|
||||
# plugin: "nav2_navfn_planner/NavfnPlanner"
|
||||
# tolerance: 0.5
|
||||
# use_astar: false
|
||||
# allow_unknown: true
|
||||
planner_server:
|
||||
ros__parameters:
|
||||
expected_planner_frequency: 20.0
|
||||
use_sim_time: True
|
||||
planner_plugins: ["GridBased"]
|
||||
use_sim_time: True
|
||||
|
||||
GridBased:
|
||||
plugin: "nav2_navfn_planner/NavfnPlanner"
|
||||
tolerance: 0.5
|
||||
use_astar: false
|
||||
allow_unknown: true
|
||||
plugin: "nav2_smac_planner/SmacPlanner2D"
|
||||
tolerance: 0.125 # tolerance for planning if unable to reach exact pose, in meters
|
||||
downsample_costmap: false # whether or not to downsample the map
|
||||
downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
|
||||
allow_unknown: true # allow traveling in unknown space
|
||||
max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
|
||||
max_on_approach_iterations: 1000 # maximum number of iterations to attempt to reach goal once in tolerance
|
||||
max_planning_time: 2.0 # max time in s for planner to plan, smooth
|
||||
cost_travel_multiplier: 2.0 # Cost multiplier to apply to search to steer away from high cost areas. Larger values will place in the center of aisles more exactly (if non-`FREE` cost potential field exists) but take slightly longer to compute. To optimize for speed, a value of 1.0 is reasonable. A reasonable tradeoff value is 2.0. A value of 0.0 effective disables steering away from obstacles and acts like a naive binary search A*.
|
||||
use_final_approach_orientation: true # Whether to set the final path pose at the goal's orientation to the requested orientation (false) or in line with the approach angle so the robot doesn't rotate to heading (true)
|
||||
smoother:
|
||||
max_iterations: 1000
|
||||
w_smooth: 0.3
|
||||
w_data: 0.2
|
||||
tolerance: 0.1
|
||||
|
||||
smoother_server:
|
||||
ros__parameters:
|
||||
@ -413,12 +911,12 @@ velocity_smoother:
|
||||
use_sim_time: True
|
||||
smoothing_frequency: 20.0
|
||||
scale_velocities: False
|
||||
feedback: "OPEN_LOOP"
|
||||
feedback: "OPEN_LOOP" # was OPEN_LOOP
|
||||
max_velocity: [0.26, 0.0, 1.0]
|
||||
min_velocity: [-0.26, 0.0, -1.0]
|
||||
max_accel: [2.5, 0.0, 3.2]
|
||||
max_decel: [-2.5, 0.0, -3.2]
|
||||
odom_topic: "/odometry/filtered"
|
||||
odom_duration: 0.1
|
||||
odom_topic: "/odom
|
||||
odom_duration: 0.1 # was 0.1
|
||||
deadband_velocity: [0.0, 0.0, 0.0]
|
||||
velocity_timeout: 1.0
|
||||
|
||||
Loading…
Reference in New Issue
Block a user